CN103207937B - A kind of quaternary safety of ship domain model system and collision avoidance method - Google Patents

Abstract

The invention discloses a kind of quaternary safety of ship domain model system, it is characterized in that: this model is determined by parameter Q and k.Parameter Q is determined by four direction radius, and direction radius is respectively: R _fore, R _aft, R _starband R _port; Wherein, R _fore, R _aftbe respectively the longitudinal radius (R of quaternary ship domain _lon) forward and backward radius; R _port, R _starbbe respectively quaternary ship domain lateral radius (R _lat) left and right radius; The border of described quaternary safety of ship domain model system is that the determined closed curve of above-mentioned four direction radius combines, owing to have employed technique scheme, a kind of quaternary safety of ship domain model system provided by the invention and collision avoidance method, define a unified security fields framework, intuitively can obtain a safety of ship region determined, in conjunction with collision avoidance geometry model, effectively can launch collision prevention action by warning in advance boats and ships of being correlated with, effectively ensure that sea going security.

Description

A kind of quaternary safety of ship domain model system and collision avoidance method

Technical field

The present invention relates to a kind of quaternary safety of ship domain model system and apply the collision avoidance method of this model.

Background technology

In recent years along with global economy trade develop very fast, global sea transport fleet scale constantly expands, Collision Accidents of Ships incidence also increases thereupon.Therefore, determine that marine operation safety field is the important ring carrying out maritime traffic simulation and ships risk of collision.

20th century six the seventies, the rattan [1] that adds of Japan proposes the concept in navigation safety field so far, researcher proposes the navigation safety domain model system of various difformity, size, as: " cross-sectional area " model that document [2] proposes is put together by former and later two semiellipses, by decisions such as Ship Controling parameter and headways; Document [3] [4] propose a kind of hexagon ship domain model of complexity, each limit size is determined by ship's speed and boats and ships convolution parameter, this model makes the boats and ships in collision prevention situation be convenient to adopt evolution algorithm to be optimized its flight path, but its complexity is higher, the physics meaning is more ambiguous, is not easy to understand and practical application; [5] quantization method of boats and ships field boundary in several situation is provided in conjunction with factors such as ship turning performances, the maneuvering performance of boats and ships is embodied in the method, but the funtcional relationship between moulded dimension and influence factor is artificially given a kind of rough estimation equation.In summary, although modern ships field have widely research and at ship-danger to navigation assessment, ship collision prevention, simulation shipping traffic, determine in flight path optimization, there is main effect.But, a unified model cannot be formed all the time, cause the main cause of the problems referred to above to have: the factor of the navigation environment that (1) is different causes producing the model of difformity, size; (2) most model is all formed according to the method for statistics or simulated experiment; (3) existing model all easy to understand, but be difficult to be applied in reality and go.

List of references is as follows:

[1]Y.EujiiandK.Tanaka.Trafficcapacity[J].JournalofNavigation,1971,24:543-552.

[2]K.KijimaandY.cFurukawa.Automaticcollisionavoidancesystemusingtheconceptofblockingarea[C],//ProceedingofIFACConferenceonManoeuvringandControlofMarineCraft.2003:123-128

[3]SMIERZCHALSIR,MICHALEWICZZ.Modellingofashiptrajectoryincollisionatseabyevolutionaryalgorithm[J].IEEETransactiononEvolutionaryComputation,2004,4(3):227-241.

[4]SMIERZCHALSIR.On-linetrajectoryplanningincollisionsituationatseabyevolutionarycomputationexperiments[C]C//ProceedingofIFACConferenceonComputerApplicationinMarineSystem.Glasgow,UK:ElsevierScience,2001:84-89.

[5] Guo Zhixin. the quantitative analysis [J] on ship domain border. shipbuilding of wuhan, 2001 (S1): 63-64.

[6]NingWang,XianyaoMeng.AUnifiedAnalyticalFrameworkforShipDomans[J],JournalofNavigation(2009),62,643-655.

[7] Liu Shaoman, Wang Ning. ship domain Review Study [J]. Maritime Affairs University Of Dalian's journal, 2011.

Summary of the invention

For the proposition of above problem, the present invention proposes a kind of quaternary safety of ship domain model system, it is characterized in that: this model is determined by four direction radius, direction radius is divided into: R _fore, R _aft, R _starband R _port; Wherein, R _fore, R _aftbe respectively the longitudinal radius (R of quaternary ship domain _lon) forward and backward radius; R _port, R _starbbe respectively quaternary ship domain lateral radius (R _lat) left and right radius;

The border of described quaternary safety of ship domain model system is the closed curve comprising described four direction radius, and function representation is as follows:

QSD _k＝{(x,y)|f _k(x,y；Q)≤1,Q＝{R _fore,R _aft,R _starb,R _port},k≥1}

Wherein, boundary function:

$f_k(x,y;Q)={\left(\frac{2x}{(1+\mathrm{sgn}x)R_{fore}-(1-\mathrm{sgn}x)R_{aft}}\right)}^k+{\left(\frac{2y}{\left(1+\mathrm{sgn}y\right)R_{start}-\left(1-\mathrm{sgn}y\right)R_{port}}\right)}^k$

Wherein: $\mathrm{sgn}x=\left\{\begin{array}{c}1,x\&GreaterEqual;0\\ -1,x<0\end{array}\right.,\mathrm{sgn}y=\left\{\begin{array}{c}1,y\&GreaterEqual;0\\ -1,y<0\end{array}\right.,$ Q is the size of direction radius, decision model, and k is the shape of model;

The estimation formulas of Q is $\left\{\begin{array}{c}{R}_{fore}=(1+1.34\sqrt{k_{AD}^2+{(k_{DT}/2)}^2})L\\ R_{aft}=(1+0.67\sqrt{k_{AD}^2+{(k_{DT}/2)}^2})L\\ R_{starb}=(0.2+k_{AD})L\\ R_{port}=(0.2+0.75k_{AD})L\end{array}\right.$ Wherein L is this ship captain, k _aD, k _dTdetermined by following formula respectively: $\left\{\begin{array}{c}{k}_{AD}=A_D/L={10}^{0.3591\lg Vown+0.0952}\\ k_{DT}=D_T/L={10}^{0.5441\lg Vown-0.0795}\end{array}\right.,$ A _d, D _trepresent the forward travel Distance geometry turning radius respectively, V _ownrepresent this ship ship's speed.

The shape on the border of described quaternary safety of ship domain model system is polygon or ellipse.

The function expression of the quaternary safety of ship domain model system of Polygonal Boundary is as follows:

QSD _q＝{(x,y)|f _q(x,y；Q)≤1,Q＝{R _fore,R _aft,R _starb,R _port}}

$f_q(x,y;Q)=\frac{2x}{(1+\mathrm{sgn}x)R_{fore}-(1-\mathrm{sgn}x)R_{aft}}+\frac{2y}{(1+\mathrm{sgn}y)R_{start}-(1-\mathrm{sgn}y)R_{port}},\mathrm{sgn}x=\left\{\begin{array}{c}1,x\&GreaterEqual;0\\ -1,x<0\end{array}\right.,$ $\mathrm{sgn}y=\left\{\begin{array}{c}1,y\&GreaterEqual;0\\ -1,y<0\end{array}\right.;$

Four right-angle triangles that quadrilateral quaternary ship domain model is made up of four straight lines and four direction radius combine.

Oval quaternary ship domain model may be defined as following formula:

QSD _ce＝{(x,y)|f _ce(x,y；Q)≤1,Q＝{R _fore,R _aft,R _starb,R _port}}，

Wherein boundary function f _ceas follows:

$f_{ce}(x,y;Q)={\left(\frac{2x}{(1+\mathrm{sgn}x)R_{fore}-(1-\mathrm{sgn}x)R_{aft}}\right)}^2+{\left(\frac{2y}{(1+\mathrm{sgn}y)R_{start}-(1-\mathrm{sgn}y)R_{port}}\right)}^2$

$\mathrm{sgn}x=\left\{\begin{array}{c}1,x\&GreaterEqual;0\\ -1,x<0\end{array}\right.,\mathrm{sgn}y=\left\{\begin{array}{c}1,y\&GreaterEqual;0\\ -1,y<0\end{array}\right.,$ Oval ship domain model is the ellipse formed with any one longitudinal radius and lateral radius, get respectively these four oval corresponding individual ellipse combines.

A kind of collision avoidance method, has following steps:

-acquisition at least comprises this ship captain L, move distance and turning radius A _d, D _tand this ship ship's speed V _ownship's navigation parameter, calculate four direction radius R _fore, R _aft, R _starband R _port;

-by described R _fore, R _aft, R _starband R _portbring in quaternary ship model, obtain safety of ship areas, described model expression is as follows:

QSD _k＝{(x,y)|f _k(x,y；Q)≤1,Q＝{R _fore,R _aft,R _starb,R _port},k≥1}

Wherein, boundary function $f_k(x,y;Q)$

$={\left(\frac{2x}{(1+\mathrm{sgn}x)R_{fore}-(1-\mathrm{sgn}x)R_{aft}}\right)}^k+{\left(\frac{2y}{\left(1+\mathrm{sgn}y\right)R_{start}-\left(1-\mathrm{sgn}y\right)R_{port}}\right)}^k$

Wherein: $\mathrm{sgn}x=\left\{\begin{array}{c}1,x\&GreaterEqual;0\\ -1,x<0\end{array}\right.,\mathrm{sgn}y=\left\{\begin{array}{c}1,y\&GreaterEqual;0\\ -1,y<0\end{array}\right.,$ K=1,2 is the shape of model;

-set up collision avoidance geometry model, obtain distance to closest point of approach DCPA, if the distance being less than above-mentioned ship domain model of DCPA absolute value, there is risk of collision in two ships; If when this ship is give-way vessel, Anti-collision Actions will be taked by machine in due course, and make the distance being not less than above-mentioned ship domain model of DCPA absolute value, target safety of ship is crossed.

The calculating of described Q has following formula to draw:

$\left\{\begin{array}{c}{R}_{fore}=(1+1.34\sqrt{k_{AD}^2+{(k_{DT}/2)}^2})L\\ R_{aft}=(1+0.67\sqrt{k_{AD}^2+{(k_{DT}/2)}^2})L\\ R_{starb}=(0.2+k_{AD})L\\ R_{port}=(0.2+0.75k_{AD})L\end{array}\right.$

L is this ship captain, k _aD, k _dTdetermined by following formula respectively:

$\left\{\begin{array}{c}{k}_{AD}=A_D/L={10}^{0.3591\lg Vown+0.0952}\\ k_{DT}=D_T/L={10}^{0.5441\lg Vown-0.0795}\end{array}\right.,$

A _d, D _trepresent the forward travel Distance geometry turning radius respectively, V _ownrepresent this ship ship's speed.

Described collision avoidance geometry model of setting up comprises following method:

Obtain this ship speed of a ship or plane V ₀and course obtain target ship speed V _t, course relative orientation α and relative distance R;

Use formula:

Calculate distance to closest point of approach DCPA.

The shape on the border of described quaternary safety of ship domain model system is polygon, and namely k=1 function expression is as follows:

QSD _q＝{(x,y)|f _q(x,y；Q)≤1,Q＝{R _fore,R _aft,R _starb,R _port}}

$f_q(x,y;Q)=\frac{2x}{(1+\mathrm{sgn}x)R_{fore}-(1-\mathrm{sgn}x)R_{aft}}+\frac{2y}{(1+\mathrm{sgn}y)R_{start}-(1-\mathrm{sgn}y)R_{port}},\mathrm{sgn}x=\left\{\begin{array}{c}1,x\&GreaterEqual;0\\ -1,x<0\end{array}\right.,$ $\mathrm{sgn}y=\left\{\begin{array}{c}1,y\&GreaterEqual;0\\ -1,y<0\end{array}\right.;$

Four right-angle triangles that quadrilateral quaternary ship domain model is made up of four straight lines and four direction radius combine.

The shape on the border of described quaternary safety of ship domain model system is polygon, and namely k=2 function expression is as follows:

QSD _ce＝{(x,y)|f _ce(x,y；Q)≤1,Q＝{R _fore,R _aft,R _starb,R _port}}，

Wherein boundary function f _ceas follows:

$f_{ce}(x,y;Q)={\left(\frac{2x}{(1+\mathrm{sgn}x)R_{fore}-(1-\mathrm{sgn}x)R_{aft}}\right)}^2+{\left(\frac{2y}{(1+\mathrm{sgn}y)R_{start}-(1-\mathrm{sgn}y)R_{port}}\right)}^2$

$\mathrm{sgn}x=\left\{\begin{array}{c}1,x\&GreaterEqual;0\\ -1,x<0\end{array}\right.,\mathrm{sgn}y=\left\{\begin{array}{c}1,y\&GreaterEqual;0\\ -1,y<0\end{array}\right.,$ Oval ship domain model is the ellipse formed with any one longitudinal radius and lateral radius, get respectively these four oval corresponding individual ellipse combines.

Owing to have employed technique scheme, a kind of quaternary safety of ship domain model system provided by the invention and collision avoidance method, define a unified security fields framework, intuitively can obtain a safety of ship region determined, in conjunction with collision avoidance geometry model, effectively can launch collision prevention action by warning in advance boats and ships of being correlated with, effectively ensure that sea going security.

Accompanying drawing explanation

In order to the technical scheme of clearer explanation embodiments of the invention or prior art, introduce doing one to the accompanying drawing used required in embodiment or description of the prior art simply below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.

Fig. 1 is Goodwin ship domain model

Fig. 2 is quadrilateral quaternary ship domain model of the present invention

Fig. 3 is the present invention's oval quaternary ship domain model

Fig. 4 is the relation of quadrilateral quaternary ship domain model of the present invention and ship's speed

Fig. 5 is the relation of the oval quaternary ship domain model of the present invention and ship's speed

Fig. 6 is collision avoidance geometry model of the present invention

Embodiment

For making the object of embodiments of the invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, clear complete description is carried out to the technical scheme in the embodiment of the present invention:

Shown in Fig. 1-Fig. 5: a kind of novel ship field security model-quaternary ship domain model, model is determined by four direction radius, and direction radius is respectively: R _fore, R _aft, R _starband R _port.R _fore, R _aftbe respectively the longitudinal radius (R of quaternary ship domain _lon) forward and backward radius; R _port, R _starbbe respectively quaternary ship domain lateral radius (R _lat) left and right radius.Then quaternary ship domain model is combined by the closed curve comprising this four direction radius, and its expression formula is as follows:

QSD＝{(x,y)|f(x,y；Q)≤1,Q＝{R _fore,R _aft,R _starb,R _port}(1)

Like this, deck officer can set up directly perceived, a simple safety of ship field fast.Therefore, quaternary ship domain can very easily for boats and ships assessment of risks and collision prevention.Boundary function f in formula (1) can be linear nonlinear function of living, and therefore the shape of this ship domain can be polygon, ellipse etc.Specific as follows:

With the quadrilateral ship domain model (as Fig. 2) of quaternary ship domain definition

Obtained by (1), quadrilateral quaternary ship domain model may be defined as following formula:

QSD _q＝{(x,y)|f _q(x,y；Q)≤1,Q＝{R _fore,R _aft,R _starb,R _port}}，

Wherein boundary function f _qas follows:

$\begin{array}{c}{f}_q(x,y;Q)=\\ \frac{2x}{(1+\mathrm{sgn}x)R_{fore}-(1-\mathrm{sgn}x)R_{aft}}+\frac{2y}{(1+\mathrm{sgn}y)R_{start}-(1-\mathrm{sgn}y)R_{port}},\mathrm{sgn}y=\left\{\begin{array}{c}1,y\&GreaterEqual;0\\ -1,y<0\end{array}\right..\end{array}$

As shown in Figure 2, four triangles that quadrilateral quaternary ship domain model is made up of four straight lines and four direction radius combine.

With the oval ship domain model (as Fig. 3) of quaternary ship domain definition

Obtained by (1), oval quaternary ship domain model may be defined as following formula:

QSD _ce＝{(x,y)|f _ce(x,y；Q)≤1,Q＝{R _fore,R _aft,R _starb,R _port}}，

Wherein boundary function f _ceas follows:

$\begin{array}{c}{f}_{ce}(x,y;Q)=\\ {\left(\frac{2x}{(1+\mathrm{sgn}x)R_{fore}-(1-\mathrm{sgn}x)R_{aft}}\right)}^2+{\left(\frac{2y}{(1+\mathrm{sgn}y)R_{start}-(1-\mathrm{sgn}y)R_{port}}\right)}^2,\mathrm{sgn}x=\left\{\begin{array}{c}1,x\&GreaterEqual;0\\ -1,x<0\end{array}\right..\end{array}$

As shown in Figure 3, oval ship domain model is the ellipse formed with any one longitudinal radius and lateral radius, get respectively these four oval corresponding individual ellipse combines.

By 1,2 is known, and we can use quaternary ship domain model to replace the ship domain model of those complexity, and therefore to define the model of a Unified frame as follows in the present invention:

QSD _k＝{(x,y)|f _k(x,y；Q)≤1,Q＝{R _fore,R _aft,R _starb,R _port},k≥1}，

Wherein boundary function f _kas follows:

$\begin{array}{c}{f}_k(x,y;Q)=\\ {\left(\frac{2x}{(1+\mathrm{sgn}x)R_{fore}-(1-\mathrm{sgn}x)R_{aft}}\right)}^k+{\left(\frac{2y}{(1+\mathrm{sgn}y)R_{start}-(1-\mathrm{sgn}y)R_{port}}\right)}^k,\mathrm{sgn}x=\left\{\begin{array}{c}1,x\&GreaterEqual;0\\ -1,x<0\end{array}\right..\end{array}$

Equally, by 1,2 is known, the shape of parameter k decision model.

In sum, the size of known direction radius Q decision model, and the shape of k decision model.Therefore quaternary domain model is determined by k, Q two parameters.Determine the estimation formulas of parameter Q:

$\left\{\begin{array}{c}{R}_{fore}=(1+1.34\sqrt{k_{AD}^2+{(k_{DT}/2)}^2})L\\ R_{aft}=(1+0.67\sqrt{k_{AD}^2+{(k_{DT}/2)}^2})L\\ R_{starb}=(0.2+k_{AD})L\\ R_{port}=(0.2+0.75k_{AD})L\end{array}\right.,$

Wherein, L is this ship captain; k _aD, k _dTdetermined by following formula respectively:

$\left\{\begin{array}{c}{k}_{AD}=A_D/L={10}^{0.3591\lg Vown+0.0952}\\ k_{DT}=D_T/L={10}^{0.5441\lg Vown-0.0795}\end{array}\right.,$

Here, A _d, D _trepresent that boats and ships enter distance and the turning radius, V respectively _ownrepresent this ship ship's speed.From the estimation formulas of parameter Q, the size of ship domain is relevant to ship's speed (as Fig. 4 and Fig. 5).

Set up collision avoidance geometry model (as Fig. 5), by this ship multidate information, (this ship speed of a ship or plane, course are respectively V ₀with ) and object ship multidate information (the object ship speed of a ship or plane, course, relative orientation and relative distance are respectively V _t, α and R) try to achieve object ship relative velocity and virtual course by the method for geometric construction, and distance to closest point of approach DCPA.Computing formula is as follows:

If the size of DCPA absolute value is less than the distance of above-mentioned ship domain model, there is risk of collision in two ships.If when this ship is give-way vessel, Anti-collision Actions will be taked by machine in due course, and make the size of DCPA absolute value be not less than in the distance of above-mentioned ship domain model, target safety of ship is crossed.

The above; be only the present invention's preferably embodiment; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to according to technical scheme of the present invention and inventive concept thereof and replace or change, all should be encompassed within protection scope of the present invention.

Claims (9)

1. a quaternary safety of ship domain model system, is characterized in that: this model is determined by parameter Q and k.Parameter Q is determined by four direction radius, and direction radius is respectively: R _fore, R _aft, R _starband R _port; Wherein, R _fore, R _aftbe respectively the longitudinal radius (R of quaternary ship domain _lon) forward and backward radius; R _port, R _starbbe respectively quaternary ship domain lateral radius (R _lat) left and right radius;

The border of described quaternary safety of ship domain model system is that the determined closed curve of above-mentioned four direction radius combines, and its function representation is as follows:

QSD _k＝{(x,y)|f _k(x,y；Q)≤1,Q＝{R _fore,R _aft,R _starb,R _port},k≥1}

Wherein, boundary function:

$f_k(x,y;Q)={\left(\frac{2x}{(1+\mathrm{sgn}x)R_{fore}-(1-\mathrm{sgn}x)R_{aft}}\right)}^k+{\left(\frac{2y}{(1+\mathrm{sgn}y)R_{start}-(1-\mathrm{sgn}y)R_{port}}\right)}^k$

Wherein: $\begin{array}{cc}\mathrm{sgn}x=\left\{\begin{array}{c}1,x\&GreaterEqual;0\\ -1,x<0\end{array}\right.,& \mathrm{sgn}y=\left\{\begin{array}{c}1,y\&GreaterEqual;0\\ -1,y<0\end{array}\right.,\end{array}$ Q is the size of direction radius, decision model, and k is the shape of model;

The estimation formulas of Q is $\left\{\begin{array}{c}{R}_{fore}=(1+1.34\sqrt{k_{AD}^2+{(k_{DT}/2)}^2})L\\ R_{aft}=(1+0.67\sqrt{k_{AD}^2+{(k_{DT}/2)}^2})L\\ R_{starb}=(0.2+k_{AD})L\\ R_{port}=(0.2+0.75k_{AD})L\end{array}\right.$ Wherein L is this ship captain, k _aD, k _dTdetermined by following formula respectively: $\left\{\begin{array}{c}{k}_{AD}=A_D/L={10}^{0.3591\lg Vown+0.0952}\\ k_{DT}=D_T/L={10}^{0.5441\lg Vown-0.0795}\end{array}\right.,$ A _d, D _trepresent that boats and ships enter distance and the turning radius, V respectively _ownrepresent this ship ship's speed; Parameter Q determines the size of quaternary ship domain determined safety zone area.

2. a kind of quaternary safety of ship domain model system according to claim 1, be further characterized in that the shape on the border of described quaternary safety of ship domain model system is determined by parameter k, along with k value is different, boundary shape is also different, and as k=1, border is polygon; During k=2, border is oval.

3. a kind of quaternary safety of ship domain model system according to claim 2, when k gets 1, border is polygon, and the function expression of polygon quaternary safety of ship domain model system is as follows:

QSD _q＝{(x,y)|f _q(x,y；Q)≤1,Q＝{R _fore,R _aft,R _starb,R _port}}

$f_q(x,y;Q)=\frac{2x}{(1+\mathrm{sgn}x)R_{fore}-(1-\mathrm{sgn}x)R_{aft}}+\frac{2y}{(1+\mathrm{sgn}y)R_{start}-(1-\mathrm{sgn}y)R_{port}},$ $\mathrm{sgn}x=\left\{\begin{array}{c}1,x\&GreaterEqual;0\\ -1,x<0\end{array}\right.,$ $\mathrm{sgn}y=\left\{\begin{array}{c}1,y\&GreaterEqual;0\\ -1,y<0\end{array}\right.;$

Quadrilateral quaternary ship domain model is that four right-angle triangles of folded rectilinear(-al) between its four direction radius and four radiuses combine.

4. a kind of quaternary safety of ship domain model system according to claim 2, is further characterized in that: when k gets 2, and border is oval, and the function expression of oval quaternary safety of ship domain model system is as follows:

QSD _ce＝{(x,y)|f _ce(x,y；Q)≤1,Q＝{R _fore,R _aft,R _starb,R _port}}，

Wherein boundary function f _ceas follows:

$f_{ce}(x,y;Q)={\left(\frac{2x}{(1+\mathrm{sgn}x)R_{fore}-(1-\mathrm{sgn}x)R_{aft}}\right)}^2+{\left(\frac{2y}{(1+\mathrm{sgn}y)R_{start}-(1-\mathrm{sgn}y)R_{port}}\right)}^2$

$\begin{array}{cc}\mathrm{sgn}x=\left\{\begin{array}{c}1,x\&GreaterEqual;0\\ -1,x<0\end{array}\right.,& \mathrm{sgn}y=\left\{\begin{array}{c}1,y\&GreaterEqual;0\\ -1,y<0\end{array}\right.;\end{array}$

Oval ship domain model is four ellipses formed with any one longitudinal radius and lateral radius, get respectively these four oval corresponding individual ellipse combines.

5., based on a collision avoidance method for the arbitrary described quaternary safety of ship domain model system of claim 1-4, there are following steps:

-acquisition at least comprises this ship captain L, move distance and turning radius A _d, D _tand this ship ship's speed V _ownthe basic data of ship's navigation parameter, calculate four direction radius R _fore, R _aft, R _starband R _port;

-by described R _fore, R _aft, R _starband R _portbring in quaternary ship model, obtain safety of ship areas, described model expression is as follows:

QSD _k＝{(x,y)|f _k(x,y；Q)≤1,Q＝{R _fore,R _aft,R _starb,R _port},k≥1}

Wherein, boundary function $f_k(x,y;Q)$

$={\left(\frac{2x}{(1+\mathrm{sgn}x)R_{fore}-(1-\mathrm{sgn}x)R_{aft}}\right)}^k+{\left(\frac{2y}{(1+\mathrm{sgn}y)R_{start}-(1-\mathrm{sgn}y)R_{port}}\right)}^k$

Wherein: $\begin{array}{cc}\mathrm{sgn}x=\left\{\begin{array}{c}1,x\&GreaterEqual;0\\ -1,x<0\end{array}\right.,& \mathrm{sgn}y=\left\{\begin{array}{c}1,y\&GreaterEqual;0\\ -1,y<0\end{array}\right.,\end{array}$ K=1 or=2;

The estimation formulas of Q is $\left\{\begin{array}{c}{R}_{fore}=(1+1.34\sqrt{k_{AD}^2+{(k_{DT}/2)}^2})L\\ R_{aft}=(1+0.67\sqrt{k_{AD}^2+{(k_{DT}/2)}^2})L\\ R_{starb}=(0.2+k_{AD})L\\ R_{port}=(0.2+0.75k_{AD})L\end{array}\right.$ Wherein L is this ship captain, k _aD, k _dTdetermined by following formula respectively: $\left\{\begin{array}{c}{k}_{AD}=A_D/L={10}^{0.3591\lg Vown+0.0952}\\ k_{DT}=D_T/L={10}^{0.5441\lg Vown-0.0795}\end{array}\right.,$ A _d, D _trepresent that boats and ships enter distance and the turning radius, V respectively _ownrepresent this ship ship's speed; Parameter Q determines the size of quaternary ship domain determined safety zone area;

-set up collision avoidance geometry model, obtain distance to closest point of approach DCPA, if the distance being less than above-mentioned ship domain model of DCPA absolute value, there is risk of collision in two ships; If when this ship is give-way vessel, Anti-collision Actions will be taked by machine in due course, and make the distance being not less than above-mentioned ship domain model of DCPA absolute value, target safety of ship is crossed;

The process of Modling model is as follows: obtain this ship speed of a ship or plane V ₀and course obtain target ship speed V _t, course relative orientation α and relative distance R;

Use formula:

Calculate distance to closest point of approach DCPA.

6. a kind of collision avoidance method according to claim 5, is further characterized in that: the calculating of described Q has following formula to draw:

$\left\{\begin{array}{c}{R}_{fore}=(1+1.34\sqrt{k_{AD}^2+{(k_{DT}/2)}^2})L\\ R_{aft}=(1+0.67\sqrt{k_{AD}^2+{(k_{DT}/2)}^2})L\\ R_{starb}=(0.2+k_{AD})L\\ R_{port}=(0.2+0.75k_{AD})L\end{array}\right.$

L is this ship captain, k _aD, k _dTdetermined by following formula respectively:

$\left\{\begin{array}{c}{k}_{AD}=A_D/L={10}^{0.3591\lg Vown+0.0952}\\ k_{DT}=D_T/L={10}^{0.5441\lg Vown-0.0795}\end{array}\right.,$

A _d, D _trepresent the forward travel Distance geometry turning radius respectively, V _ownrepresent this ship ship's speed.

7. a kind of collision avoidance method according to claim 5, is further characterized in that: described collision avoidance geometry model of setting up comprises following method:

Obtain this ship speed of a ship or plane V ₀and course obtain target ship speed V _t, course relative orientation α and relative distance R;

Use formula:

Calculate distance to closest point of approach DCPA.

8. a kind of collision avoidance method according to claim 5, is further characterized in that: the shape on the border of described quaternary safety of ship domain model system is polygon, and namely k=1 function expression is as follows:

QSD _q＝{(x,y)|f _q(x,y；Q)≤1,Q＝{R _fore,R _aft,R _starb,R _port}}

$f_q(x,y;Q)=\frac{2x}{(1+\mathrm{sgn}x)R_{fore}-(1-\mathrm{sgn}x)R_{aft}}+\frac{2y}{(1+\mathrm{sgn}y)R_{start}-(1-\mathrm{sgn}y)R_{port}},$ $\mathrm{sgn}x=\left\{\begin{array}{c}1,x\&GreaterEqual;0\\ -1,x<0\end{array}\right.,$ $\mathrm{sgn}y=\left\{\begin{array}{c}1,y\&GreaterEqual;0\\ -1,y<0\end{array}\right.;$

Four right-angle triangles that quadrilateral quaternary ship domain model is made up of four straight lines and four direction radius combine.

9. a kind of collision avoidance method according to claim 5, is further characterized in that: the shape on the border of described quaternary safety of ship domain model system is polygon, and namely k=2 function expression is as follows:

QSD _ce＝{(x,y)|f _ce(x,y；Q)≤1,Q＝{R _fore,R _aft,R _starb,R _port}}，

Wherein boundary function f _ceas follows:

$f_{ce}(x,y;Q)={\left(\frac{2x}{(1+\mathrm{sgn}x)R_{fore}-(1-\mathrm{sgn}x)R_{aft}}\right)}^2+{\left(\frac{2y}{(1+\mathrm{sgn}y)R_{start}-(1-\mathrm{sgn}y)R_{port}}\right)}^2$

$\begin{array}{cc}\mathrm{sgn}x=\left\{\begin{array}{c}1,x\&GreaterEqual;0\\ -1,x<0\end{array}\right.,& \mathrm{sgn}y=\left\{\begin{array}{c}1,y\&GreaterEqual;0\\ -1,y<0\end{array}\right.,\end{array}$ Oval ship domain model is the ellipse formed with any one longitudinal radius and lateral radius, get respectively these four oval corresponding individual ellipse combines.